CN207479147U - A kind of photovoltaic panel cleaning robot - Google Patents

Abstract

The utility model discloses a kind of photovoltaic panel cleaning robot, a pair of of deflecting roller, a pair of of universal wheel and handrail including chassis, on chassis further include slewing equipment, adjusting apparatus, cleaning device, water supply installation and control device.The slewing equipment includes the components such as revolving support, workbench and the turning motor and the swiveling gear that are fixedly mounted on chassis；The adjusting apparatus includes lifting unit, rotating part and pars contractilis；The cleaning device includes moving portion, spray portion and the first cleaning part and the second cleaning part；The water supply installation includes water tank, is located at the components such as accumulator tank and water pump on water tank；The control device includes microcontroller and control panel.Utility model can be to photovoltaic panel progress Rapid Cleaning, situation about especially largely being concentrated in processing this photovoltaic panel of photovoltaic plant, and the feature is more obvious.

Description

A photovoltaic panel cleaning robot

technical field

The utility model relates to the field of photovoltaic power generation supporting equipment, in particular to a photovoltaic panel cleaning robot.

Background technique

Economic development will inevitably be accompanied by huge energy consumption. Conventional energy sources (coal, oil, natural gas, etc.) are formed in the earth's crust over millions of years, and these energy sources cannot be regenerated in the short term. The contradiction between energy and social development has also become one of the main contradictions. The reasons behind the Fourth Middle East War, the Iran-Iraq War and the Gulf War in modern times are all competition for energy ownership.

Aiming at the increasingly tense energy problem, all countries in the world have invested huge efforts in research. With the in-depth research on energy, renewable energy has gradually entered people's sight. Photoelectricity, as a renewable energy source, has attracted more and more attention because of its simple technology, low investment and environmental friendliness.

Photovoltaic panels are currently the most technologically mature optoelectronic devices. It is a power generating device that generates direct current when exposed to sunlight. It is composed of thin solid photovoltaic cells almost entirely made of semiconductor materials (such as silicon). Since there are no moving parts, it can be operated for a long time without any wear and tear. Photovoltaic panels can be made in different shapes and interconnected to generate more electricity, and can be used on rooftops and building surfaces, or even as part of windows, skylights or shelters.

Today, with the extensive use of photovoltaic panels, their efficiency has also received attention. The study found that the level of light transmission performance is one of the key factors affecting its efficiency. That is to say, the cleanliness of the photovoltaic panel can directly affect the power generation efficiency of the photovoltaic panel. In my country, photovoltaic power generation equipment mainly exists in the form of photovoltaic power plants in the central and western regions with long sunlight time and high intensity. high. Huge cleaning volume and frequent cleaning frequency are problems that need to be solved urgently.

Utility model content

The utility model aims to provide a photovoltaic panel cleaning robot which has fast cleaning speed and can reuse water.

The utility model adopts the following technical solutions:

A photovoltaic panel cleaning robot includes a chassis, a pair of steering wheels installed on the chassis, a pair of universal wheels and handrails, and also includes a turning device, an adjusting device, a cleaning device, a water supply device and a control device.

The slewing device includes a slewing support fixedly installed on the chassis, a worktable bolted to the slewing support, a slewing motor fixedly installed on the chassis, and a slewing gear installed on the output shaft of the slewing motor; the slewing gear and the slewing Support engagement.

The adjusting device includes a lifting part, a rotating part and a telescoping part.

The lifting part includes a lifting rod A fixed on the workbench, a lifting rod B inserted into the lifting rod A at one end, and a hydraulic push rod A; the hydraulic push rod A is located in the lifting rod A, and one end thereof is hinged to the lifting rod A The other end is hinged with lifting rod B.

The rotating part includes a rotary servo motor, a reducer and a cantilever fixed on the output shaft of the reducer; both the rotary servo motor and the reducer are fixedly installed on the lifting rod B; the output end of the rotary servo motor and the reducer input connection.

The telescopic part includes a baffle fixed in the cantilever, a telescopic arm inserted into the cantilever at one end, and a hydraulic push rod B; one end of the hydraulic push rod B is hinged to the baffle, and the other end is hinged to the telescopic arm.

The cleaning device includes a moving part, a spraying part, a first cleaning part and a second cleaning part.

The moving part includes a moving plate fixed on the telescopic arm, a guide rail fixed on the moving plate, a rack fixed on one side of the guide rail, a slide block slidably connected with the guide rail, a moving motor fixed on one side of the slide block and an installation The mobile gear on the output shaft of the mobile motor; the mobile gear is meshed with the rack; the slide block is provided with a cleaning panel.

The shower part includes a shower pipe arranged on the cleaning panel and shower heads evenly distributed on the shower pipe.

The first cleaning part includes a bracket A arranged on the cleaning panel, a cleaning roller arranged on the bracket A and a first cleaning motor fixed on the cleaning panel; the first cleaning motor is connected to the cleaning roller through a coupling .

The second cleaning part includes a bracket B fixed on the cleaning panel, at least one rotating shaft sleeved on the bracket B, a cleaning wheel fixed on one end of the rotating shaft, a driven sprocket fixed on the other end of the rotating shaft, and fixed on the bracket B. The second cleaning motor on the top, the driving sprocket and the transmission chain fixedly installed on the output shaft of the second cleaning motor; the transmission chain is meshed with the driven sprocket and the driving sprocket.

The water supply device includes a water tank, a recovery tank on the water tank, a water outlet on the water tank and a water pump; the input end of the water pump is connected to the water outlet, and the output end is connected to the spray pipe.

The control device includes a single chip microcomputer and a control panel.

As a further solution: an optical signal generator and an optical signal receiver are installed on the cleaning panel.

As a further solution: the optical signal generator and the optical signal receiver are arranged obliquely on the cleaning panel.

As a further solution: the minimum included angle between the optical signal generator and the optical signal receiver and the cleaning panel is the same.

As a further solution: the cleaning panel is provided with a pressure sensor.

As a further solution: the number of the pressure sensors is at least two and arranged symmetrically on the cleaning panel.

As a further solution: anti-collision blocks are installed at both ends of the guide rail.

As a further solution: a storage battery is provided on the workbench.

The beneficial effects that the utility model produces are as follows:

In order to achieve the maximum space utilization of photovoltaic power plants, as many photovoltaic panels as possible will be installed in a limited space, and only a small number of passages will be reserved for daily inspection and maintenance. These reserved channels are generally narrow, and large-scale cleaning equipment cannot perform operations; manual operations require staff to carry buckets, scrubbing cloths, etc., and for large photovoltaic panels, tools such as straight ladders and high and low stools are also required. The work speed is slow and the work efficiency is low. The utility model has the advantages of small volume and convenient turning, can fully cover the photovoltaic power station, and can complete the cleaning operation by a single operation. Workers only need to adjust the position between the utility model and the photovoltaic panel, and the rest of the work can be completed automatically. In this way, the working efficiency and cleaning frequency can be greatly improved, and the working efficiency of the photovoltaic panel can be maintained within a relatively high range.

The utility model adopts the mode of combining manual operation and mechanical operation. Staff are responsible for moving the equipment, while the cleaning section is fully automated. The advantage of this setting is that it can greatly reduce the cost of equipment (compared with fully automated equipment) and the difficulty of subsequent maintenance, and control the input and output within a reasonable range. At the same time, the staff can observe the operation of the equipment at any time and make adjustments in time to ensure the safety of the utility model and the photovoltaic panel.

The cleaning of the utility model adopts the mode of rinsing first, then scrubbing, and finally drying. The water pump draws clean water from the water tank and transports it to the spray pipe, and then sprays it through the nozzles evenly distributed on the spray pipe. The sprayed clean water has a certain pressure, and there is an angle between the nozzle and the photovoltaic panel, which can wash away the particles such as sand and gravel on the upper surface of the photovoltaic panel, and prevent the particles from moving with the cleaning roller during the subsequent scrubbing process. Scratch the surface of the photovoltaic panel; as the cleaning panel moves, the roller contacts the photovoltaic panel and scrubs the photovoltaic panel; finally, the cleaning wheel contacts the photovoltaic panel and cleans and wipes it dry to remove water stains on the photovoltaic panel, and Give the panel a final scrub to further improve its cleanliness. The components required for the above-mentioned cleaning operation are arranged linearly on the cleaning panel, that is, all cleaning steps can be completed at one time without repeated steps, and the cleaning speed is faster and the cleaning efficiency is higher.

In practice, the installation angle of each photovoltaic panel is not nearly the same, and the parameters such as installation height and installation angle of photovoltaic panels in the same power station are more different. The utility model has an angle adjustment function and has good adaptability to this. The lifting part is composed of lifting rod A, lifting rod B and hydraulic push rod A. The lifting rod B can move back and forth along the lifting rod A and pushed by the hydraulic push rod A to adjust the height of the cleaning device; it is composed of a rotary servo motor and a reducer. The rotating part composed of the cantilever and the cantilever can rotate with the rotation of the reducer shaft to adjust the parallelism between the cleaning part and the photovoltaic panel; the telescopic part is composed of the baffle, the telescopic arm and the hydraulic push rod B. Push the telescopic arm to move along the cantilever to adjust the distance between the cleaning device and the photovoltaic panel; through the adjustment of the above height, angle and distance, the scope of application of the utility model is greatly expanded.

During the cleaning process, if the cleaning device is not parallel to the photovoltaic panel, it is easy to cause uneven pressure between the cleaning device and the photovoltaic panel, so that the pressure between the cleaning roller or the cleaning wheel and the photovoltaic panel is too large or too small, and the maximum pressure cannot be reached. Excellent cleaning effect. The utility model applies the principle of mirror reflection to leveling. Firstly, the operator adjusts the cleaning device to be approximately parallel to the photovoltaic panel, and then starts the automatic adjustment. The optical signal generator on the cleaning panel emits light and shines on the photovoltaic panel. Mirror reflection occurs, and at the same time, the cleaning device is still rotating in a direction parallel to the photovoltaic panel. When the optical signal receiver on the cleaning panel receives the signal, it means that the cleaning device is parallel to the photovoltaic panel, and the cleaning device stops rotating.

At the same time, the utility model can constantly adjust the pressure between the cleaning device and the photovoltaic panel during the cleaning process. Through the pressure sensor installed on the cleaning panel, when the cleaning device is in contact with the surface of the photovoltaic panel, the pressure sensor is in contact with it at the same time, and the pressure value is transmitted back to the control system. The control system stores a preset value of pressure, which can According to the comparison between the returned value and the preset value, the distance between the cleaning device and the photovoltaic panel is adjusted in time, and then the pressure between the two is adjusted to achieve a maximum cleaning effect.

Description of drawings

Fig. 1 is the structural representation of the utility model (excluding cleaning device);

Fig. 2 is the structural representation of cleaning device of the present utility model;

Fig. 3 is the structural representation of the second cleaning part of the present utility model;

Fig. 4 is a schematic diagram of the connection relationship between the track and the anti-collision block of the present utility model;

Fig. 5 is the structural representation of the control device of the present utility model;

Among them: 1 chassis, 11 steering wheel, 12 universal wheel, 13 armrest, 21 slewing support, 22 workbench, 23 slewing motor, 24 slewing gear, 31 lifting rod A, 32 lifting rod B, 33 hydraulic push rod A, 41 Rotary servo motor, 42 reducer, 43 cantilever, 51 baffle, 52 telescopic arm, 53 hydraulic push rod B, 61 moving plate, 62 guide rail, 63 rack, 64 slider, 65 moving motor, 66 moving gear, 67 cleaning Panel, 71 spray pipe, 72 nozzle, 81 bracket A, 82 cleaning roller, 83 first cleaning motor, 84 coupling, 91 bracket B, 92 rotating shaft, 93 cleaning wheel, 94 driven sprocket, 95 second cleaning Motor, 96 driving sprocket, 97 transmission chain, 101 water tank, 102 recovery tank, 103 water outlet, 104 water pump, 111 single chip microcomputer, 112 control panel, 113 optical signal generator, 114 optical signal receiver, 14 pressure sensor, 15 anti Strike block, 16 accumulators.

Detailed ways

Below in conjunction with Fig. 1-5, the utility model is further described.

The utility model adopts the following technical scheme: a photovoltaic panel cleaning robot, including a chassis 1, a pair of steering wheels 11 installed on the chassis 1, a pair of universal wheels 12 and handrails 13, and also includes a turning device, an adjusting device, a cleaning installations, water supply installations and controls;

The rotary device includes a rotary support 21 fixedly installed on the chassis 1, a workbench 22 bolted to the rotary support 21, a rotary motor 23 fixedly mounted on the chassis 1, and a rotary gear mounted on the output shaft of the rotary motor 23 24; the slewing gear 24 meshes with the slewing support 21;

The adjustment device includes a lifting part, a rotating part and a telescopic part;

The lifting part includes a lifting rod A31 fixed on the workbench 22, a lifting rod B32 inserted into the lifting rod A31 at one end, and a hydraulic push rod A33; the hydraulic push rod A33 is located in the lifting rod A31, and one end thereof is hinged to the lifting rod A31 , the other end is hinged with the lifting rod B32;

The rotating part includes a rotary servo motor 41, a reducer 42 and a cantilever 43 fixed on the output shaft of the reducer 42; the rotary servo motor 41 and the reducer 42 are fixedly installed on the lifting rod B32; the rotary servo motor The output end of 41 is connected with the input end of speed reducer 42;

The telescopic part includes a baffle 51 fixed in the cantilever 43, a telescopic arm 52 inserted into the cantilever 43, and a hydraulic push rod B53; one end of the hydraulic push rod B54 is hinged with the baffle 51, and the other end is connected with the telescopic arm 52. hinged;

The cleaning device includes a moving part, a spraying part, a first cleaning part and a second cleaning part;

The moving part includes a moving plate 61 fixed on the telescopic arm 52, a guide rail 62 fixed on the moving plate 61, a rack 63 fixed on one side of the guide rail, a slider 64 slidably connected to the guide rail 62, and a slider 64 fixed on the slider. The moving motor 65 on one side of 64 and the moving gear 66 installed on the output shaft of the moving motor 65; the moving gear 66 and the rack 63 mesh; the slide block 64 is provided with a cleaning panel 67;

The shower part includes a shower pipe 71 arranged on the cleaning panel 67 and shower heads 72 evenly distributed on the shower pipe 71;

Described first cleaning portion comprises the bracket A81 that is located on the cleaning panel 67, the cleaning roller 82 that is located on the bracket A81 and the first cleaning motor 83 that is fixed on the cleaning panel 67; The first cleaning motor 83 and the cleaning roller 82 is connected by coupling 84;

The second cleaning part includes a bracket B91 fixed on the cleaning panel 67, at least one rotating shaft 92 sleeved on the bracket B91, a cleaning wheel 93 fixed on one end of the rotating shaft 92, and a driven sprocket 94 fixed on the other end of the rotating shaft 92. , the second cleaning motor 95 that is fixedly installed on the bracket B91, the driving sprocket 96 and the drive chain 97 that are fixedly installed on the output shaft of the second cleaning motor 95; 96 are meshed;

The water supply device comprises a water tank 101, a recovery tank 102 arranged on the water tank 101, a water outlet 103 and a water pump 104 arranged on the water tank 101; the input end of the water pump 104 is connected to the water outlet 103, and the output end is connected to the spray pipe 71 connections;

The control device includes a single chip microcomputer 111 and a control panel 112 .

As a further solution: an optical signal generator 113 and an optical signal receiver 114 are installed on the cleaning panel 53 .

As a further solution: the optical signal generator 113 and the optical signal receiver 114 are arranged obliquely on the cleaning panel 53 .

As a further solution: the minimum angle between the optical signal generator 12 and the optical signal receiver 114 and the cleaning panel 53 is the same.

As a further solution: the cleaning panel 67 is provided with a pressure sensor 14 .

As a further solution: there are at least two pressure sensors 14 and they are symmetrically arranged on the cleaning panel 67 .

As a further solution: anti-collision blocks 15 are installed at both ends of the guide rail 62 .

As a further solution: a storage battery 16 arranged on the workbench 22 is also included.

Before use, at first accumulator 16 is fully charged, and water tank 101 li is full of water, is then pushed to the working place. The utility model is small in size and light in weight, and can walk and turn through the cooperation of the steering wheel 11 and the universal wheel 12 in a narrow maintenance passage, and can turn around or turn conveniently, and has better flexibility. Steering wheel 11 adopts the form that cardan wheel or cardan shaft and tire are combined all can.

Workers send the utility model to the front of the photovoltaic panel to be cleaned to properly adjust the parallelism between the chassis 1 and the photovoltaic panel base. Then press the control key of the control rotary motor 23 on the control panel 112 to control the rotary motor 23 to rotate clockwise or counterclockwise, further adjust the parallelism between the utility model and the photovoltaic panel base, and ensure that the two are parallel as far as possible.

Then replace the button, press the control key that controls the extension or shortening of the hydraulic push rod A33, and adjust the relative height between the cleaning device and the photovoltaic panel. The extension or shortening of the hydraulic push rod A33 is controlled by the hydraulic station. When it is extended, the hydraulic station acts to press the hydraulic oil into the hydraulic push rod A33, and the hydraulic push rod A33 is extended; when it is shortened, the hydraulic oil is pumped back to the hydraulic station. , The hydraulic push rod A33 elongates and shortens.

Then adjust the parallelism between the cleaning device and the photovoltaic panel. Press the control key on the control panel 112 to control the rotation of the servo motor 41, and adjust the rotation direction of the servo motor 41 through control to adjust the parallelism between the cleaning device and the photovoltaic panel.

Continue to replace the buttons, and replace them on the control buttons that control the hydraulic push rod B53. The hydraulic station moves, and the hydraulic oil is input into the hydraulic push rod B53, and the hydraulic push rod B53 is extended to push the cleaning device to move towards the direction close to the photovoltaic panel.

When the cleaning device is close to the photovoltaic panel, the pressure sensor 14 will touch the photovoltaic panel and feed back the pressure signal to the control system. After the control system receives the signal, it controls the hydraulic push rod B53 to no longer extend, that is, the cleaning device no longer moves toward the photovoltaic panel. At this time, the control system controls the rotary motor 23 to rotate, and adjusts the parallelism between the cleaning device and the photovoltaic panel in the horizontal direction. When the two pressure transducers 14 that are arranged symmetrically on the cleaning panel 67 all send signals back to the control system and when the values are the same, the rotary motor 23 is not in action; The signal returned by the contacted pressure sensor 14 disappears. At this time, the rotary motor 23 also stops, and the hydraulic push rod B53 moves to push the cleaning device towards the direction close to the photovoltaic panel. At this time, the hydraulic push rod B53 stops moving, and the rotary motor 23 moves, and this process is repeated until the cleaning device is parallel to the photovoltaic panel in the horizontal direction.

After the parallelism adjustment in the horizontal direction is completed, start to adjust the parallelism in the vertical direction. The optical signal generator 113 sends out a signal, and the signal is mirror-reflected on the photovoltaic panel to the cleaning panel. If the cleaning panel is parallel to the photovoltaic panel at this time, the optical signal receiver 114 should be able to receive the signal. When the signal cannot be received, the rotary servo motor 41 rotates to drive the cleaning device to rotate, and further adjusts the parallelism between the two until the optical signal Receiver 114 receives the signal. During this adjustment process, the value transmitted back to the control system by the pressure sensor 14 may be greater than the preset value, and if the pressure between the cleaning device and the photovoltaic panel is too high, the photovoltaic panel may be damaged if it continues. At this time, the rotary servo motor 41 When the action is stopped, the hydraulic push rod B53 moves to make the cleaning device move away from the photovoltaic panel until the pressure returns to normal and then stops. At this time, the servo motor 41 continues to operate, driving the cleaning device to rotate parallel to the photovoltaic panel. If the return value of the pressure sensor 14 is still higher than the preset value, the process is repeated until the two are parallel.

Finally, adjust the distance between the cleaning device and the photovoltaic panel. At this time, the two have reached the predetermined parallel range, and the hydraulic push rod B53 moves to move the cleaning device closer to the photovoltaic panel; the pressure sensor 14 returns the pressure value to the control system, and when the returned value reaches the clear pressure preset value, the hydraulic push rod B53 stops moving, and the adjustment process is completed.

The cleaning process starts. First, the water pump 104 draws clean water from the water tank 101 and sends it into the spray pipe 71 , and then sprays it onto the photovoltaic panel through the spray heads 72 evenly distributed on the spray pipe 71 . The sprayed water has a certain pressure and can wash away large particles, leaves or other sundries on the photovoltaic panel. Then the first cleaning motor 83 starts to rotate, and drives the cleaning roller 82 to rotate through the coupling 84. The cleaning roller 82 is arranged parallel to the photovoltaic panel and rotates at a high speed, which can further remove fine particles on the photovoltaic panel and improve its cleanliness. The second cleaning motor 95 rotates at last, drives the driving sprocket 96 that is installed on its output shaft to rotate, and driving sprocket 96 drives the driven sprocket 94 that is connected with it to rotate by transmission chain, and driven sprocket 94 drives rotating shaft 92 to rotate And then drive the cleaning wheel 93 to rotate. The cleaning wheel 93 is arranged vertically with the photovoltaic panel, which can dry and absorb moisture on the photovoltaic panel and improve its cleanliness again. The clean water sprayed from the nozzle 72 flows along the photovoltaic panel, and finally falls into the recovery tank 102 , and enters the water tank 101 through the recovery tank 102 . This can improve water utilization.

It should be noted here that the cleaning content of the above three parts is carried out at the same time, but the contact time with the photovoltaic panel is different at the beginning of cleaning, and the cleaning content of the three parts is carried out sequentially. At the same time, the moving motor 65 acts to drive the cleaning panel 67 to move along the direction of the guide rail 62 to clean the entire photovoltaic panel.

In a photovoltaic power station, the installation parameters of photovoltaic panels with similar distances are basically the same. That is to say, adjustments in multiple directions are required when cleaning the first piece. When cleaning the second and subsequent photovoltaic panels, it is only necessary to adjust the pressure value between the cleaning device and the photovoltaic panel, which can shorten the adjustment time and improve work efficiency.

The pressure sensor 14 mentioned above can be a strain gauge pressure transmitter of model PT124B-210; the optical signal generator 113 can be a laser generator of model FU650AD20-BC10 (BD10) or other types as long as it can generate The generator of the optical signal can be used; the optical signal receiver 114 can use a photoresistor (to convert the optical signal into an electrical signal) or work away from a similar sensor; the single-chip microcomputer can use an 80C51. The above-mentioned electrical components and the given models are for reference only, and are not the only choice of the utility model.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. .

Claims (8)

1. a kind of photovoltaic panel cleaning robot, including chassis（1）, mounted on chassis（1）On a pair of of deflecting roller（11）, it is a pair of Universal wheel（12）And handrail（13）, it is characterised in that：Further include slewing equipment, adjusting apparatus, cleaning device, water supply installation and control Device processed；

The slewing equipment includes being fixedly mounted on chassis（1）On revolving support（21）, be bolted to revolving support（21） On workbench（22）, be fixedly mounted on chassis（1）On turning motor（23）With mounted on turning motor（23）On output shaft Swiveling gear（24）；The swiveling gear（24）And revolving support（21）Engagement；

The adjusting apparatus includes lifting unit, rotating part and pars contractilis；

The lifting unit includes being fixed on workbench（22）On elevating lever A（31）, one end be inserted into elevating lever A（31）Elevating lever B（32）With hydraulic push rod A（33）；The hydraulic push rod A（33）Positioned at elevating lever A（31）It is interior, one end and elevating lever A（31）Hinge It connects, the other end and elevating lever B（32）It is hinged；

The rotating part includes rotating servo motor（41）, speed reducer（42）Be fixed on speed reducer（42）Cantilever on output shaft （43）；The rotating servo motor（41）And speed reducer（42）It is fixedly mounted on elevating lever B（32）On；The rotating servo electricity Machine（41）Output terminal and speed reducer（42）Input terminal connection；

The pars contractilis includes being fixed on cantilever（43）Interior baffle（51）, one end be inserted into cantilever（43）Interior telescopic arm（52）With Hydraulic push rod B（53）；The hydraulic push rod B（53）One end and baffle（51）It is hinged, the other end and telescopic arm（52）It is hinged；

The cleaning device includes moving portion, spray portion, the first cleaning part and the second cleaning part；

The moving portion includes being fixed on telescopic arm（52）On movable plate（61）, be fixed on movable plate（61）On guide rail （62）, be fixed on the rack of guide rail side（63）And and guide rail（62）The sliding block being slidably connected（64）, be fixed on sliding block（64）One The mobile motor of side（65）With mounted on mobile motor（65）Carrier wheel on output shaft（66）；The carrier wheel（66）With Rack（63）Engagement；The sliding block（64）It is equipped with cleaning panel（67）；

The spray portion includes being located at cleaning panel（67）On spray tube（71）Be distributed on spray tube（71）On nozzle （72）；

First cleaning part includes being located at cleaning panel（67）On stent A（81）, be located at stent A（81）On cleaning idler wheel （82）Be fixed on cleaning panel（67）On first cleaning motor（83）；The first cleaning motor（83）With cleaning idler wheel （82）Pass through shaft coupling（84）Connection；

Second cleaning part includes being fixed on cleaning panel（67）On stent B（91）, be sleeved on stent B（91）On at least One shaft（92）, be fixed on shaft（92）The cleaning wheel of one end（93）, be fixed on shaft（92）The driven sprocket of the other end （94）, be fixedly mounted on stent B（91）On second cleaning motor（95）, be fixedly mounted on the second cleaning motor（95）Output shaft On drive sprocket（96）And driving chain（97）；The driving chain（97）With driven sprocket（94）And drive sprocket（96） Engagement；

The water supply installation includes water tank（101）, be located at water tank（101）On accumulator tank（102）, be located at water tank（101）On Water outlet（103）And water pump（104）；The water pump（104）Input terminal and water outlet（103）Connection, output terminal and spray tube （71）Connection；

The control device includes microcontroller（111）And control panel（112）.

2. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that：The cleaning panel（67）On Optical signal generator is installed（113）And optical signal receiver（114）.

3. a kind of photovoltaic panel cleaning robot according to claim 2, it is characterised in that：The optical signal generator （113）And optical signal receiver（114）In cleaning panel（67）On be obliquely installed.

4. a kind of photovoltaic panel cleaning robot according to claim 3, it is characterised in that：The optical signal generator （113）With optical signal receiver（114）With cleaning panel（67）Minimum angle it is identical.

5. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that：The cleaning panel（67）On Equipped with pressure sensor（14）.

6. a kind of photovoltaic panel cleaning robot according to claim 5, it is characterised in that：The pressure sensor（14） Quantity at least two and be arranged symmetrically in cleaning panel（67）On.

7. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that：The guide rail（62）Both ends It is mounted on anticollison block（15）.

8. a kind of photovoltaic panel cleaning robot according to claim 1, it is characterised in that：The workbench（22）On set There is accumulator（16）.